Adaptive monofrequency pilot signals

ABSTRACT

A seismic prospecting system where the frequency and duration of vibratory signals are automatically adjusted to compensate for deleterious variations in soil transmissivity which distort the equivalent reflection pulses. The actual signals injected into the earth are monitored by a near-field detector and compared with a predetermined standard. When the energy of one frequency of the injected signal equals the standard, a new frequency signal is computed and injected until it likewise equals the standard. In like manner, frequencies and durations of remaining segments in the vibratory signal are continuously generated until the spectrum of the equivalent reflection pulse closely approximates the standard spectrum chosen to best delineate the geological objective of the seismic survey.

O United States Patent 1 1 1 3,886,493

Farr 1 May 27, 1975 I ADAPTIVE MONOFREQUENCY PILOT 3.761374 9/1973 Landrum 340/17 SIGNALS I Primary Examiner-Maynard R. Wilbur [75] Inventor. John B. Farr, Tulsa, Okla. Assmam Examiner Nl Moskowitz [73] Assignee: Amoco Production Company, Tulsa. Attorney, Agent, or FirmPau| F. Hawley Okla.

[22] Filed: May 7, 1973 [57] ABSTRACT [21] APP] 358,187 A seismic prospecting system where the frequency and duration of vibratory signals are automatically adjusted to compensate for deleterious variations in soil I I CLM 340/155 TD; 340/155 CC? 340/; transmissivity which distort the equivalent reflection 73/7l-6 pulses. The actual signals injected into the earth are [5 [1 Int. Cl. GOlv 1/14; GO] v [/26 mannered by a Heal-{161d detector and compared with [58] Field ofSearch 340/l5.5 TA, 15.5 TD, a predetermined Standani w the energy f one 15.5 CC.340/l5.5 TM, 17', l8l/.5 EC..5 H; 73/7l.6,7l.5; 323/101, 106; 340/]7; 324/83 FE frequency of the injected signal equals the standard, a new frequency signal is computed and injected until it likewise equals the standard. In like manner, frequen- I56] References Cited eies and durations of remaining segments in the vibra- UNITED STATES PATENTS tory signal are continuously generated until the spec- 3 2s9 s7s 7/1966 Mifsuo 340/155 TD Ofthe equivalent reflection Pulse Closely p 3,332.51 1 7/1967 Silverman... 340/155 CC imates the standard spectrum chosen to best delineate 3.416.632 l2/l968 Bodin y I v l/.5 EC the geological objective of the seismic survey. 3,523,277 S/l970 Landrum 340/l5.5 CC 3.730.370 0mm Pelton et al 340/155 TM 18 Claims. 17 Drawmg Flgllres l i 25 24 /2l 22 NEW SIGNAL RADIO RADIO FREQUENCY DURATION TRANSCEIVER TRANSCEIVER COMPUTER TIMER L E L PROGRAMMABLE PROGRAMMABLE SIGNAL STANDARD GENERATOR STORAGE j /23 3 REMOTE d ENERGY AMPLIFIER GATE COMPARATOR AND REPRODUCABLE RECORDING 4 A9 APPARATUS 1 AMPLIFIER VIBRATOR AND FILTER AMPLITUDE CONTROL PATENTED W 2 7 I975 SHEET VIBRATOR POSITION 2O VIBRATOR POSITION I5 PULSE from VP [5 CORRELATION CORRELATION PULSE from V P 20 O O O O O O O O 8 7 5 5 4 3 FREQUENCY FIGURE l Pmtmanmzv I915 338K493 SHEET 2 m I" a a ACTUAL INJECTED E. SIGNAL SPECTRUM a 90 Q 2 DESIRED SPECTRUM x Q 2 Q #1 5 .J n: LIJ 2 l g z 70- i z a g FREQUENCY IN H ERTZ FIGURE 2 0 +30 i O: 5 S 2 0 (I g 5 l0 U L) w 0: Of. l.|J g l 0 Q L Q E w E O D l0 l O. 2

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L H I 35 4 Z 6 02; i w Mg 113 PATENTEUMY 27 I975 3 Z Z w. 1 n 2 mozouww z 2075350 2205 ADAPTIVE SiGNALS-PRESENT'INVENTION FIGU R E 9 l ADAPTIVE MONOFREQUENCY PILOT SIGNALS BACKGROUND OF THE INVENTION This invention relates to seismic exploration and more particularly to techniques where wavctrains of vibratory seismic signals are injected into the earth by vibrators or shakers on the earths surface.

In one type of seismic prospecting. a dynamite explosion is used to generate a sharp seismic pulse at or near the surface of the earth. The seismic waves produced by reflection of this pulse from subterranean elastic interfaees are detected by seismometers spaced at intervals along the earths surface. Electrical signals from these seismometers are separately amplified and reproducibly recorded on a multichannel field recording apparatus. These recorded signals are subsequently pro cessed and displayed on a multitrace seismogram section. This section is then examined and operated on to pick out reflected and diffracted waves which indicate the positions of subterranean interfaces.

To locate the positions of the reflecting interfaces the two-way traveltime and velocity of the waves must be determined with great accuracy. The accuracy to which the arrival time of any reflection wave can be determined depends on the shape of the seismic reflection pulse as it appears on the seismogram section. It is well known that the seismic pulse is distorted during its passage through the subterranean strata. it is also well known that the elastic properties of the near-surface formations close to the shot have a profound effect on the shape of the seismic pulse injected into the earth. Unconsolidated near-surface materials. such as sand, loamy soils. and marsh deposits, are known to severely attenuate certain seismic frequencies, thereby broadening and distorting the injected seismic pulse and reducing the accuracy with which the twoway traveltimes and velocities can be determined.

Reflected waves from specific geological formations are routinely followed across wide areas and correlated to borehole logs taken from existing wells. The pulse shape corresponding to these specific reflections are in many instances indicative of potential oil reservoirs since they may indicate the presence of a stratigraphic pinchout or other geological phenomenon of interest. When sporadic near-surface materials cause the injected seismic pulse to change shape the reflection pulses will also show this change in shape, leading to uncertainty as to whether the observed change is indicative to a subsurface geological change of interest or merely results from a localized change in the nearsurface material.

In a second type of seismic prospecting, a shape seismic pulse is injected into the earth by a mobile source placed on the surface of the earth. The pulse is produced by exploding mixtures of propane and oxygen. high-energy electrical discharges. releases of highpressure air. or by large weights dropped onto the earth's surface. As with dynamite. the elastic wave energy generated by these surface sources is injected into the earth at substantially the same time; however. it is very much lower in energy. To achieve adequate signal strength. a large number of such pulses. taken at different surface positions, are summed together in the acquisition process and only a composite pulse recorded for later processing and display.

The same near-surface irregularities which corrupt the seismic pulses generated with dynamite have an even more deleterious effect on the injected pulses obtained with this type of surface source. It is well known that an irregular. low velocity weathering layer exists over most areas from the surface to depths of tens of hundreds of feet below the surface. This weathering layer usually coincides with the aerated soil zone above the water table and has elastic properties which can change very rapidly in short distances. Surface sources are relatively weak in energy when compared to dynamite. therefore a large number of individual pulses must be summed to produce adequate signal strength. Since the sources move across the surface between times of signal generation, each individual pulse is taken at a different surface location with a different near-surface material at each location. The areal distribution of individual source points is required to minimize the very large noises generated by the surface sources. Since many different individual pulses are composited prior to recording. a smeared and distorted composite pulse is produced, which, due to destructive cancellation of the higher frequency components. appears to be very low in frequency and therefore is difficult to time accurately.

In a third method of seismic prospecting an elongated nonrepetitive vibratory signal or wavetrain is injected into the earth. using a number of mobile surface vibrators. Unlike the first two methods where little or no control could be exerted on the injected pulse shape. this method permits limited control of the frequencies in the transmitted signal which. after recording and subsequent processing, determines the shape of the equivalent of the seismic pulse. The injected seismic signal is nonrepetitive or random during a time interval which is at least as long as the traveltime of a reflection wave along the longest travel path of interest. This longest path will usually be the shortest distance from the surface vibrator to the deepest reflecting interface which it is desired to delineate and back to the seismometer at the surface which is furthest removed from the vibrator. In normal practice in the vibratory signal is therefore at least as long as the traveltime ofthe seismic waves to the deepest reflection to be mapped.

The most widely used non-repetitive vibratory signal is one whose frequency changes linearly with time from some predetermined beginning frequency to a predetermined ending frequency. These beginning and ending frequencies are selected to produce a desired pulse shape after processing, with consideration given to geological objective of the particular geophysical survey, the elastic properties of the intervening geological strata, and the intrinsic mechanical limitations of the mobile vibrators. The signal commonly called a pilot signal may be generated by an apparatus in the vibrator vehicle or taken from a pre-recorded magnetic tape or signal generator in the remote recording apparatus.

The pilot signal is assumed to be a replica of the seismic signal injected into the earth. In reality. it is only a replica of the signal which controls the vibrating apparatus. Two factors tend to distort the injected signal. The first factor is related to the electrohydraulic controls which cause the vibrator to operate. Several large electrohydraulic valves, a hydraulic pump. and mechanical masses are driven during routine operation of the vibrator. Each of these contributes a distortion between the pilot signal and the actual motion of the portion of the vibrator in contact with the earth. These distortions which are functions of the vibrator itself are reduced by feedback control circuitry built into the vibrator control electronics. The second distorting factor is related to the nearsurface material upon which the vibrator operates. This near-surface effect is analogous to the one which distorts the pulse generated by the impulsive surface sources. as discussed above.

After reproducibly recording seismic waves arriving at the seismometers and the pilot signal. a later processing step is required to extract the reflection information in an interpretable formv Most commonly. this subsequent step involves cross correlation of the pilot signal with each signal produced by the scismometers. Such cross correlation can be accomplished by an analog correlation apparatus as described by W. Ev N. Doty. et al. US. Pat. l lov 2.685%.l24. but more commonly a digital computer is used for this purpose. After each seismorneter signal has been crosscorrelated with the pilot signal. the timc phase relations yielding the largest Correlation values are taken as indicative of the traveltime of the seismic waves from the vibrator location to the reflecting interfaces and back to the seismometer. The shape of the correlation curve determines the accuracy with which the traveltimcs of the reflected seis mic waves can be determined in the same way as the pulse shape oes in the two inpulsive methods discussed earlier. When using a sinusoidal pilot signal haw ing a continuously varied frequency so as to be non repetitive over its length. the resulting correlation pulses consist of a major lobe flanked by minor lobes diminishing in amplitude and extending in both direc tions on the time shift axis of the correlation curve. Such a correlation pulse is shown by Crawford et al.. in US. Pat. No. 1.808.577. This correlation pulse differs from the impulsively generated seismic pulse in that the largest amplitude central lobe. which is indicative of the traveltime of the reflected seismic wavc. appears in the center of the entire pulse being preceded and fol lowed by extraneous side lobes while the seismic pulse has the largest amplitude at the front end and is fol lowed by minor lobes.

A single seismic trace will commonly exhibit a num ber of seismic pulses. one following thc other. which indicate the presence of a number of reflecting interfaces. likewise. the correlation curve will exhibit a number of correlation pulses. one following the other. which will also indicate the presence ofa number ofrc' fleeting interfaces. In practice, the correlation curve obtained with this third method is interpreted in the same manner as the seismic trace recorded in the first two methods where impulsive sources are employed.

Just as with the seismic pulses generated with dynamite or surface impulsive sources. the correlation pulses are severely degraded by the action ofthc near surface materials upon which the vibrator operates. Howev er. one problem unique to the vibratory method involves the effect of the ncarurliicc material on the side lobes of the correlation pulse. The amplitude of these side lobes is determined by the time rate of change of the transmitted signal. Stated another way. the side lobc amplitude is dependent upon the bandwidth and length of the originally transmitted signal For two transmitted signals of the same bandwidth. the longer signal will have lower correlation pulse sidc lobes. if the signals are of the same length. the broader bandwidth signal will produce the lower amplitude side lobes. The most widely used pilot signals are UPDTU\I" til.)

matcly seven seconds long and have a bandwidth of one to two octaves.

The near-surface geological conditions which dcgrade the shape of the impulsive signals generated by dynamite restrict the bandwidth of the transmitted vi hratory signal. thereby increasing the side lobe amplitude of the correlation pulses. The transmitted signal will not only have a narrower bandwidth than the pilot signal but will also be reduced in effective length. still further increasing the side lobe amplitude. This reduction in effective signal length results from the filtering effect ofthc near-surface layers. For example. consider atypical 7-scc long pilot signal increasing in frequency from ltl to 40 Hz. If the near-surface soil material tilters out all frequencies from ltl to 15 Hz and from 30 to 40 Hz. the original twoaictave signal is reduced to the single octave from l5 to 30 Hz. At the same time the original 7-sec pilot signal length has been reduced to B-Vi-sec transmitted signal length. Since the first 5-H portion corresponding to 5/30 or l/b of the origi nal pilot signal length has been eliminated. and the last If] H! corresponding to ill/3U or /:i of the original pilot signal length has been likewise eliminated. it can be seen that only 2 of the total 7 sec pilot signal length has been actually transmitted into the earth.

What makes side lobes such an important source of error in the vibratory method is the probability that the side lobe of the correlation pulse indicative of one strong reflection may be mistaken for the central lobe of the correlation pulse indicate ofa nearby weaker reflection. For this reason. it is most desirable to attend ate as much as possible the amplitude of the side lobes of correlation pulses obtained by the vibratory method. A certain minimum side lobe amplitude is inherent when the beginning and ending frequencies are selected and the length of the pilot signal chosen; how-- ever. the nearsurface materials will in most areas increase these undesirable side lobes manyfold.

A fourth method has been used which also involves the use of vibratory seismic signals. as in method 3. Rather than extended non-repetitive signals. this method employs a number of short monofrequcncy wavetrains. which are summed or otherwise compressed to produce a pulse similar in appearance to the pulse obtained by cross correlation in the method described above. As taught in the prior art the wave-trains used in this method are truncated sinusoids having con stant amplitude and length with frequencies chosen so that each individual wavctrain frequency differs from all other individual wavetrains in the group by the val ues of an arithmetical series. When all of the different frequency wavetrains are phase aligned about their midpoint and summed. a ingle pulse is prodticcd if the duration l ofcach monofrcqucncy truncated sinusoid is the same and the frequencies chosen such that a; L or where A} is the frequency difference between any two successive sinusoids. The summing procedure is the equivalent of a Fourier synthesis of the particular pulse and the set of truncated sinusoids described by the above equation is called a Fourier set. The shape ofthe synthesized Fourier pulse is determined by the beginning and ending frequencies in the series. as well as the duration of the sinusoids The time-bandwidth product witl determine the basic pulse shape in the truncated sinusoid method exactly the same way as it does in the elongated non-repetitive signal method.

The Fourier pulse synthesized from a Fourier set cov ering a given seismic band will have intrinsic side lobes similar to those seen on cross correlation pulses derived from a non-repetitive signal covering the same band. The side lobes of the Fourier pulse will be affected by the near-surface materials in the same manner as the cross correlation pulse side lobes. The amplitude of each individual monofrequency sinusoid is attenuated by the near-surface material. the amount of this attenuation being dependent on the frequency of that particular sinusoid and the transfer function of the nearsurface material at that frequency.

Since it is one of the basic limitations in seismic pros pecting, the problem of reflection pulse distortion and methods to compensate for it have been the subject of extensive investigation in the prior art. Practically all the prior art has been directed at improvements in the received pulse rather than the injected pulse since the dynamite or other impulsive sources. little or no control of injected pulse is possible.

Before discussing the prior art, it is important to distinguish between the known causes of distortion in the received seismic pulse. namely, the near-surface distortions and the travel path distortions. The first type of distortion is caused by the nearsurface materials in close proximity to the source of seismic energy. When dynamite is used as a source, the volume immediately adjacent to the shot hole. where breaking and crushing of the material occurs, can be considered as the nearsurface region. It is within this near-surface region that inelastic wave propagation occurs. Somewhat beyond this volume of crushed material. the wave propagation becomes the conventional elastic-wave propagation. With surface impulsive sources. a similar nonlinear region exists in the immediate vicinity beneath the area where the impact is applied to the earths surface.

Surface vibrators. used in methods 3 and 4 above. may also drive the earth into nonlinearity for a certain small volume beneath the vibrator baseplate. Even though the forces involved in the vibratory methods are much less than in the impulsive methods. such a nonlinear near-surface region is evidenced by the harmonics and other distortions seen on the signal injected into the earth. This near-surface nonlinear volume is much smaller for the low-energy vibratory sources than for the impulsive sources. The much longer time taken to inject the signal greatly reduces the instantaneous forces on the ground surface. It is precisely this small volume of near-surface material that creates the severe problem encountered in the vibratory methods. Since only a small volume is involved. very localized changes in surface soils may drastically alter the injected signal. On the other hand. when dynamite is used as a source. a relatively large volume of material lies within the near-surface region. thereby averaging out small local ized variations.

The second type of signal distortion occurs as the re sult of passage of the seismic waves through the many different types of geological strata from the source to a reflecting interface and back to the seismometer. A progressive attenuation of high frequencies in the seismic pulse is observed for pulses that have traveled deeper and deeper into the earth. This attenuation occurs although the material is entirely elastic. It has been attributed to scattering and absorption and is generally termed inelastic attenuation. In addition to inelastic attenuation. there is a second earthfiltering effect which results from the seismic wave reflections from a multitude of very closely spaced reflection interfaces. A large number of multiple reflections can be created under certain geological circumstances. These multi ples destructively interfere with each other. everely attenuating the higher seismic frequencies in certain areas.

PRIOR ART Prior art has dealt almost exclusively with the nearsurface and transmission distortions as a single problem. l separate the two and my invention is designed primarily to eliminate or greatly reduce the highly variable near-surface distortion.

The vibratory method using elongated non-repetitive signals is best described by Crawford et al. in US. Pat. No. 2,989,726. The same inventors in US. Pat. No. 2.808.577 recognized the distorting effect on the corre lation pulse caused by the propagating medium due to unequal attentuation of different frequencies. and suggest several methods of alleviating the problem. They call for intensifying effect on portions of the elongated non-repetitive transmitted signal. to equalize the differ ent frequency contributions to the correlation pulse. This intensifying effect may be accomplished in several ways. The single non-repetitive signal may be broken into two non-repetitive signals and the one containing the frequencies most attenuated by traveling through the earth and back to the surface being transmitted for a relatively longer period of time. The attenuated frequency components may be transmitted at a higher vibrator amplitude level. The same attenuated frequency components may be selectively amplified on either the received or pilot signals prior to cross correlation. Or. conversely. selective attenuation may be applied to the non-attenuated frequency components of either received or pilot signals prior to cross correlation. Regardless of which method is employed, the received and pilot signals are subsequently cross correlated to produce the final correlograms.

The frequencies to be intensified are determined by originally transmitting a predetermined non-repetitive signal. recording the signals received at the seismome ter. cross correlating the signals and then discovering what frequency variations are missing in the correlation curve. Since the signals received at the seismometer contain distortions introduced by inelastic attenuation and multiple reflections from thin beds. this procedure of necessity treats the travel path distortions and the near-surface distortions as one single problem. Also. since the deficient frequencies are determined after cross correlation. the corrupting effect of the side lobes from strong reflection events may dominate the correlogram. thereby leading to erroneous conclusions regarding which frequencies are to be intensified.

Cunningham in US. Pat. No. 3.289.154. describes a psuedo-random signal formed according to a binary code group of maximal length. which is substantially longer than the longest traveltime of interest. This signal is designed to have a predetermined frequency spectrum. He also treats the problem of the change of amplitude. the frequency distribution. as the seismic signal is transmitted through the earth. By use of a variable frequency hetrodyne meter. he measures the fre quency spectrum of the compressed \vavetrain. and

then keeps repeating this process with different pseudowandom wavetrains of different known frequency spectra until a desired received signal spectrum is obtained. As in the Crawford et al., method, an elongated signal is used and changes made in this signal according to the frec'iency spectrum of the received data.

T i :L tory method employing truncated monofrequency sinusoids is described by McCollum in U.S. Pat. No. 3,l82,743. These sinusoids, unlike the elongated signals used by Crawford et al., are short in duration They have lengths of less than l/lOth of a second. as compared to the seven or more seconds used in the Crawford et al., method. As taught by McCollum, the individual sinusoids are algebraically summed to produce a Fourier pulse, which is used in the same manner as the correlation pulse to determine the traveltime of the seismic waves reflected by the subterranean geological interfaces. McCollum recognizes the distortion problem and in a later patent, US. Pat. No. 3,274,544, teaches a method of improving the distorted Fourier pulse shape by an arrangement of playback heads wired to give the first derivative of the combined waveforms. By such an arrangement, a somewhat sharper pulse is produced, thereby reducing sidelobe distortion.

Mifsud in US. Pat. No. 3,259,873 also transmits narrow bandwidth seismic waveforms, each having a different center frequency, and then combines these waveforms to form a composite reflected signal having a selected frequency spectrum. Mifsud recognized the deleterious effect of a change in vibrator coupling clue to differences in elastic properties of the earth from one place to another. or due to a change in the area or configuration of contact between the vibrator and the earth material. However, in his correction procedure the desired frequency spectrum is determined by visually observing the composited signal pulse on the face of an oscilloscope and separately delaying and amplifying the individual sinusoidal signals until a sharp pulse was obtained. Presumably. this is done once for a given prospect area, since such a manual adjustment at each vibrator point would be so slow as to make the procedure impractical.

Ruehle in US. Pat. No. 3,274,542 treats the distortions produced by the near-surface region and teaches a method of producing improved seismograms by equalizing the respective Fourier frequency components across the desired seismic band. Ruehles procedure essentially involves determining an inverse transfer-function which, when applied to the particular seismic trace or record, change its characteristics to some desired standard, or to some other seismic trace or record. He determined the amplitude and phase of the Fourier components of a first signal, then compared these with the amplitude and phases of a desired reference signal. Using this comparison, he derived a correction signal in the frequency domain, having an amplitude as a function of frequency, which is the quotient of the first and reference signal amplitudes. and a phase as a function of frequency, which is the difference of the phases of the first and reference signals. This cor rection signal was then transformed into the time domain and used to modify the received signalsv Since Ruehle was using impulsive sources, the first signal spectrum was entirely determined by the near-surface material at the moment the shot is detonated. Consequently, the only remedial action that could be taken by Ruehle occurred after the data has been recorded,

where the reflection signal produced by the shot was already deficient in certain desired frequencies due to near-surface soil conditions. These frequencies could only be increased in amplitude after the data had been recorded.

Seismic noises, that is extraneous events from wind, surface waves, ground unrest. etc.. are common at practically all frequencies across the seismic band. These seismic noises are recorded simultaneously with the reflection signals arriving at the seismometers. If the original injected signal, the shot in this case, is deficient in certain frequencies, the signal-to-noise ratio at these specific frequencies will be very low. lf later enhancement of these frequencies is performed on the originally recorded data, the noises and the signal will be equally increased, and result in a record which is very noisy. Since the signal and noise are not separable on the conventional seismometer signal recordings, the harmonic analysis procedure used by Ruehle will produce a signal spectrum which will depend partially on the amount of reflection signal and partially on the amount of noise present, Where the shot is deficient in certain frequencies is precisely where the noise frequencies will predominate and hence create an error in the analytical procedure.

The vibratory methods have the unique advantage over the impulsive methods in that the injected signals are subject to control. Not only can the exact bandwidth be determined by selection of the beginning and ending frequencies, but also their exact signal spectrum can be predetermined. There is a second advantage to the vibratory method which has not been used in the prior art. This advantage consists of the ability to alter the length of time required to inject the signal. ln the elongated non-repetitive signal method, the shortest time required to inject the signal is that equal to the two-wave traveltime to the deepest reflecting interface of interest. This is usually a minimum of three and a maximum of seven seconds. In the Fourier synthesis method, a large number of one to one-tenth second truncated sinusoids or wave packets are injected into the earth. The injection time for a dynamite pulse is ex tremely short, at best the order of l/lOOth of a second. The relatively longer time available in the vibratory methods permits spectrum shaping of the injected signal in real time, thereby permitting control of the resultant reflection pulse shape.

By adapting the signal driving the vibrator to the lecalized near-surface conditions existing at each separate vibrator point, a uniform injected signal can be produced regardless of the near-surface lithological variations. This uniform signal will provide the best possible signal-to-noise ratio at each frequency across the seismic band of interest, thereby improving the correlation or Fourier pulse shape, and hence the accuracy with which the traveltimes to the reflecting interfaces can be determined.

My invention improves the vibratory seismic methods by using real time feedback control of injected signals to produce uniform or specified amplitudes for selected frequencies across a predetermined seismic band regardless of changes in the near-surface materials. By eliminating the distorting effects of the nearsurface material, reflection pulses are produced which are truly representative of the subterranean geological strata, thereby permitting inferences as to the possible location of oil traps in stratigraphic pinchouts or in other geological phenomena, which are detectable by changes in the reflection-pulse shape.

The correlation or Fourier pulse produced in the vibratory methods will have the smallest amplitude side lobes for a given bandwidth and signal length when. by use of my invention. all frequencies of the transmitted signal are injected into the earth with at least approximately equal energies. Such reduction of side lobe amplitudes lessens the tendency of strong reflection pulse side lobes to override or obscure the central pulse from weaker nearby reflections.

Finally, my invention improves the accuracy with which the two-way traveltime to a given reflecting interface can be determined. This results from increasing the amplitude of the high-frequency components in the reflected signal. The prior-art vibratory methods all suffer from the loss of high-frequency portions of the injected signal due to the severe filtering effects of the soil immediately below the vibrator. By using my invention. the heretofore attenuated high frequencies can be injected with the same energy as the more easily transmitted lower seismic frequencies. Since it is primarily responsible for the sharpness of the correlation or Fourier pulses indicating the presence of a reflection on the correlogram, the added high-frequency energy permits improved timing of the reflection events.

SUMMARY OF THE INVENTION My invention permits a surface vibrator to inject vibratory signals having predetermined amplitudefrequency spectra into the earth regardless of variations in the near-surface materials in the immediate vicinity of the vibrator. I accomplish this by combining a programmable signal generator probably located in the vibrator vehicle with an energy-sensing and comparing apparatus connected to an injected signal detector.

At each individual vibrator location. the frequencies which are attenuated by the soil or other material upon which the vibrator operates are detected and compared to a predetermined standard. When any particular frequency is found to have less energy than the standard requires, the signal being produced by the signal generator is modified to correct this deficiency. This modification can take several forms. One is to increase the force level of the vibrator, thereby increasing the amplitude of the deficient portion of the outgoing signal. In practice, this signal modification is usually not relatively useful, because most vibrators are routinely driven at or near the maximum force level. A further increase in force level, if required to compensate for a particular deficient frequency, may cause the vibrator to become decoupled from the ground. In other words, the vibrator baseplate would jump off the ground if a greater force level were required. The amplitude of a particular deficient frequency can always be increased by later transmitting an additional signal at this deficient frequency and summing the two recordings.

A second way of increasing the energy level of the particular deficient frequency is to increase the time that that frequency is transmitted. The beginning frequency is transmitted until the energy of that frequency reaches the predetermined standard level. Then a second frequency is transmitted until its energy reaches the predetermined level. Then each subsequent frequency is transmitted for the length of time required to reach the standard level until all required frequencies have been transmitted. These signals can be separately transmitted, received, and reproducibly recorded as a series of relatively short truncated sinusoids as in the Fourier synthesis methods. or can be transmitted sequentially to form an elongated signal which. although repetitive in part, has a duration at least as long as the travel time of the seismic waves to reach the deepest reflection of interest.

A third way of increasing the energy level ofa particular deficient frequency is to modify the frequency increment between successive monofrequency portions of the transmitted signal in the Fourier synthesis method or to modify the incremental change of frequency with time in the elongated signal method. Where a pulse is produced by Fourier synthesis. a certain minimum number of monofrequency signals having a frequency increment Afbetween each signal is re quired to cover a predetermined bandwidth. If more than the required number of signals is transmitted. thereby reducing the increment Af, below Af= l/T re quired by the Fourier criteria, additional energy is contributed to the overall signal at the frequencies where the Af increment has been reduced.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. I graphically illustrates the effect of nearsurface soil materials on the amplitude-frequency characteristics ofthe signals injected into the earth by a surface vibrator at two closely spaced stations;

FIG. 2 graphically compares the amplitude frequency response of a desired seismic signal to that actually obtained from a conventional vibrator operated on one position on typical soil;

FIG. 3 shows the amplitude correction required to obtain the desired amplitude-frequency response from the actual signal injected into the earth at the vibrator position of FIG. 2;

FIGS. 47 graphically illustrate the amplitudefrequency characteristics of injected signal waveforms useful in understanding the present invention;

FIG. 8 shows the amplitude-frequency graph and the corresponding Fourier signals after distortion by the near-surface material;

FIG. 9 shows the changes in individual signal durations required to achieve a constant peak spectral amplitude value and the resulting adaptive set signals;

FIG. 10 graphically compares the compressed pulse spectra obtained using signals as taught in the prior art and those generated according to the present inventron;

FIG. 11 is a schematic representation of one method of compressing the signals produced by use of this invention;

FIG. 12 shows in diagrammatic form a multichannel filtering method for compressing the signals generated by this invention;

FIG. 13 illustrates in general form a vibrator control arrangement of one embodiment of this invention;

FIG. 14 schematically illustrates in more detail the vibrator control arrangement shown inFlG. l0.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Attention is now directed to FIG. 1, where two smoothed amplitude-frequency response curves are compared, illustrating the extreme variability of the near-surface soil materials over very short surface distances. Both curves were obtained using elongated non-repctitite constant amplitude vibrator pilot signals haying a linear change in frequency from It! to 58 H1 in a time of approximately 7 seconds. The amplitudes of the actual ground motion were determined from sig nals generated by a nearfield detector adjacent to the vibrator position. lhe two \ibration points were only 55 feet apart. illustrating the localized nature of the nearsurface distortions.

la the area where the data shown in FIG. I was taken. the neansurface region must be less than 55 feet in areal dimension. The near-surface region is commonly but not always limited to a hemisphere centered on the surface vibrator having a radius equal to the depth of the weathering layer. As discussed above, the weathering layer usually coincides with the aerated soil ZUHC above the ground water table. In certain water-covered areas. such as marshes. swamps. etc.. this layer may es tend to arbitrary depths beneath the surface.

The signal from a nearfield detector located within the near-surface region will essentially consist of the radiated sesimic signal. it is recognized that unusual geological conditions may give rise to near-surface acoustical interfaces which contribute extraneous rc tlections to the nearfield signal. When this occurs. the radiated seismic signal is modified by these same extra neous reflections and consequently they are properly inciuded with the signal directly from the vibrator.

I prefer to use a near-field detector located close to the vibrator; however. due to the relatively high force levels and large ground motions. special detectors are required. in many field areas. l have found the nearficld region extends a sufficient distance from the vi brator that conventional seismometers may be em ployed as near-field detectors without damage.

lsing special detectors suitably ruggedi/ed to with stand the high force levels. I have found in many areas the near field detector may be affixed directly to the vibrator baseplate and provide an excellent replica of the radiated seismic signal.

Where surface geological conditions distort the radiated seismic signal. it may be desirable to locate the near-field detector in a deep borehole beneath the distorting zone which on occasion may extend to depths well beneath the surface weathering layer.

lt is apparent on FIG. I at both vibrator positions 15 and 20 a much narrower bandwidth signal was trans mitted into the earth than the desired It) to Sir Hz chosen for the seismic objectives in the area. Where the desired pilot signal was approximately 1 /2 octaves wide. each of the two signals actually injected into the earth at positions 15 and 20 were barely t octave wide at the 50 percent amplitude points. The lower portion of HQ. 1 shows the correlation of pilot signal vtith earth signal. it is to be remembered that the resulting correlation pulses are used to locate and time the subsurface reflections. These hate side lobe amplitudes approsiinately inicrsely proportional to the bandwidth of the injected signal Correlation pulses obtained from signals injected at positions 15 and 20 have very high amplitude side lobes. making interpretation difficult. particularly where closely spaced geological strata are to be resol\ed ln addition to the high side lobes. the correlation pulse breadths shown in FIG. 1 differ substantially. Pulse breadth is defined as the time between first zero crossings on each side of the maximum correlation ltl (it I lobev Pulse breadth is dependent on the beginning and ending frequencies of the signal actually transmitted through the earth. Since the two signals have different effective beginning and ending frequencies. the pulse breadths reflect this difference. Changes in side lobe amplitudes and pulse breadths due to the near-surface conditions can together be considered as distortions in pulse shape. When different shape pulses are summed, the resulting pulse is at best a poor substitute for the desired pulse chosen to best delineate the geological objectives of the seismic survey.

FIG 2. illustrates another amplitude-frequency response curve obtained at another field vibrator location. At this location. the high frequencies have been severly attenuated by the near'surfacc soil, as noted on the actual injected spectrum curve. The second curve is the desired amplitude frequency response curve for the It) to 58 Hz pilot signal chosen to best delineate the objectives of the seismic survey. The undulations at each end of this curve are due to the (libbs phcnontcnon. Although they can be eliminated by suitable tapering ofthe signal. this was not done at this location. The zone ofdcficient signal amplitude is marked on Fl( 2. My invention is designed to correct this deficiency as the signals are injected into the earth.

FIG. .3 shows the amplitude correction required at the location for the data of FIG. 2 to bring each frcquency of the injected signal up to the amplitude required to match the desired signal. The curve on FIG. 3 is obtained by subtracting the actual injected signal curve from the desired signal curve in FIG. 2. Where the amplitude ofthe \ibrator can be increased without causing decoupling from the ground. this correction curve determines the increase or decrease in amplitude of the pilot signal needed to achieve the desired in' jectcd signal amplitude. Amplitude compensation for the near-surface filtering effects can be applied to eithcr elongated non-repetitive type vibratory signals or to the relatively short truncated monfrequency sinus oidal signals.

in broad terms. the amplitude control concept is the equivalent of using an automatic gain control circuit. where the injected earth signal is fed back to control the amplitude of the generated signal used to operate the vibrator. However, in most commonly encountered types of surface material. the additional 30 percent increase in amplitude required at about 54 H2 in FlU. 3 would most likely cause the vibrator to jump off the ground. For this reason. the amplitude control method in only useful in limited geographical areas where unique surface materials will prevent decoupling. Where amplitude cannot be directly increased by the desired amount. the same result is obtained by increasing the energy of the individual components of the in jected signal by modifying their frequencies and durations of those frequencies. To simplify the description of the method. truncated sinusoidal signals having numerical values of frequencies. frequency increments. and length will be discussed herein. but by way of example only. It is to be understood that signal segments ha ing various waveforms can be used in place of sim* ple truncated sinussoids. For esample. one such signal segment might consist of the sum of several individual sinusoiils. In addition. it is to be understood that clon gated signals can be used in place of the truncated sinusoids Also. it should be understood that various values of frequencies. frequency increments or signal lengths 

1. In a seismic prospecting method of the type where seismic waves are radiated into the earth from an electronically controllable multifrequency seismic source, the improvement comprising: a. detecting said seismic waves on a near-field detector located near said seismic source, said near-field detector producing a near-field electrical signal corresponding to the said radiated seismic waves; b. comparing a function of said near-field electrical signal with only a part of a predetermined multifrequency control signal; and c. automatically modifying at least one of the duration, frequency or amplitude characteristics of said multifrequency control signal when said comparison in step (b) indicates a predetermined ratio thereof has been reached.
 2. In a method of seismic prospecting using an electronically controllable multifrequency seismic source to radiate seismic signals into the earth, the improvement comprising: a. generating for said seismic source an electrical control signal having a predetermined amplitude-frequency spectrum; b. detecting said radiated seismic signals on a near-field detector located relative to said seismic source such that the signal produced by said near-field detector essentially contains at least the attenuation in said radiated signal introduced by near-surface material immediately adjacent to said seismic source; c. measuring a near-field amplitude-frequency spectrum of said near-field detector electrical signal; d. comparing said near-field amplitude-frequency spectrum with said predetermined amplitude-frequency spectrum; and e. continuously and automatically modifying said electrical control signal until said comparison step indicates said near-field spectrum essentially equals said predetermined spectrum.
 3. A method of seismic prospecting as recited in claim 2 wherein said generating step comprises the generation of a sequence of individual electrical control signal segments, each having individual predetermined spectra which when composited form a signal having a predetermined amplitude-frequency spectrum.
 4. A method as recited in claim 3 wherein said individual electrical control signal segments are generated in a juxtaposed time sequence to form an elongated signal with essentially no time elapsing between adjacent individual signal segments.
 5. A method as recited in claim 3 wherein said individual signal segments are generated in a separated time sequence such that the time elapsing between said individual signal segments is at least equal to the traveltime of seismic wave from said controllable seismic source to the deepest reflecting interface of interest and back to a conventional reflection spread seismometer which is located the farthest distance from said seismic source.
 6. A method as recited in claim 3 wherein said spectrum modification step is performed by changing the amplitude of said individual electrical control signal segments.
 7. A method as recited in claim 3 wherein said spectrum modification step is performed by changing the duration of said individual electrical control signal segments.
 8. A method as recited in claim 3 wherein said spectrum modification step is performed by changing the frequency of said individual electrical control signal segments.
 9. A method as recited in claim 2 wherein said detecting step is accomplished by locating said near-field detector within the earth in a hole substantially beneath said seismic source.
 10. An improved method of seismic prospecting of the type where a sequence of truncated sinusoids is radiated into the earth by a controllaBle seismic vibrator wherein the improvement comprises: a. initiating the generation of a predetermined first-frequency sinusoidal vibrator drive signal having a predetermined amplitude and frequency; b. detecting said first-frequency radiated signal on a near-field detector located relative to said vibrator such that its output signal essentially contains the distortion in the radiated signal caused by the near-surface earth materials substantially beneath said controllable seismic vibrator; c. forming from said near-field detector output signal a first-frequency spectrum value proportional to the cumulative energy of said radiated signal at said frequency after near-surface distortion has occurred; d. comparing said first-frequency spectrum value with a predetermined first standard value; e. stopping said first-frequency signal when said first near-field cumulative value equals said predetermined first standard value; and f. repeating steps (a) through (e) for additional predetermined frequencies and corresponding standard values until a desired composite signal bandwidth is obtained.
 11. A method as recited in claim 10 wherein said generating step for each different frequency sinusoid is preformed sequentially such that an elongated signal comprising a sequence of juxtaposed repetitive sinusoids with little time interval between each two frequency sinusoids is formed, compared to the duration of either of said two frequency sinusoids.
 12. A method as recited in claim 10 wherein said generating step is performed sequentially such that each different frequency sinusoid is separated from the previous one by a time interval at least as long as the traveltime required for seismic waves to travel from said controllable seismic vibrator to the deepest reflecting interface of interest and back to a seismometer in a conventional spread adjacent said vibrator which is farthest removed from said vibrator location.
 13. A method as recited in claim 10 further comprising: a. measuring the time interval that elapses between initiation and stopping of each frequency sinusoid to establish a signal duration time; b. taking the reciprocal of said signal duration time to determine a new signal frequency increment; c. adding said new frequency signal increment to the previous signal frequency to establish a new signal frequency which will be the predetermined frequency employed in step (f) of claim 14; and d. stopping said repeating step (f) in claim 14 when said new signal frequency exceeds a predetermined final frequency.
 14. A method as described in claim 10 further comprising: a. measuring the amplitude of said first-frequency vibrator drive signal from a given frequency individual sinusoid; b. comparing said first frequency vibrator drive signal amplitude measured in step (a) with a predetermined first maximum amplitude chosen such that said vibrator will remain coupled to the ground; c. adjusting the amplitude of said first frequency vibrator drive signal until it at least equals said predetermined maximum amplitude; and d. repeating steps (a) through (c) for additional predetermined frequencies and maximum amplitudes until a predetermined composite signal bandwidth is obtained.
 15. A method as recited in claim 10 wherein said spectrum forming step is performed by accumulating the square of the amplitude of said near-field detector signal.
 16. A method as recited in claim 10 wherein said spectrum forming step is performed by accumulating the absolute values of said near-field signal.
 17. An improved method of seismic prospecting of the type where a number of predetermined equal-length sinusoids are radiated into the earth by a controllable seismic vibrator wherein the improvement comprises: a. Generating for control of said seismic vibrator a first sinusoidal vibrator drive signal having a predetermined amplitude and duration chosen to produce a first predetermined spectrum value at a predetermineD first frequency, said first frequency being chosen to define one limit of a predetermined bandwidth; b. detecting said first frequency radiated signal on a near-field detector located relative to said seismic vibrator such that it produces an electrical output signal which essentially contains the distortion in the radiated signal caused by the near-surface earth materials near said seismic vibrator; c. determining a first frequency near-field spectrum value proportional to the cumulative energy in said near-field detector output signal; d. forming a ratio of said predetermined first frequency spectrum value to said cumulative near-field spectrum value; e. multiplying the first of said predetermined signal lengths of said ratio determined in step (d) to produce a first frequency correction value; f. taking the reciprocal of said first frequency correction value to produce a first frequency increment; g. adding said first frequency increment to said predetermined first frequency to establish a second frequency; h. storing said second frequency for subsequent use in establishing a third frequency; i. comparing said second frequency with a predetermined final frequency chosen to define the other limit of said desired bandwidth; j. generating for control of said seismic vibrator a second sinusoidal vibrator drive signal having the same predetermined amplitude and duration as said first frequency sinusoidal vibrator drive signal but at said second frequency as determined in step (g) above; and (k) repeating steps (b) through (k) for additional frequencies until an nth frequency at least equal to said predetermined final frequency value is reached; and (1) stopping said signal generation when said comparison in step (i) above indicates said nth frequency at least equals said predetermined final frequency.
 18. An improved method of seismic prospecting of the type using an electronically controllable seismic source to radiate seismic signals into the earth wherein the improvement comprises: a. generating for said seismic source an electrical control signal having a predetermined spectrum value for each operating frequency; b. detecting said radiated signal on a near-field detector located relative to said seismic source such that an electrical signal is produced by said near-field detector which essentially reflects the radiated signal distortion introduced by the near-surface material immediately adjacent to said vibrator source; c. continuously determining near-field spectrum values from said near-field detector electrical signal; d. continuously forming a ratio of said near-field spectrum values to said predetermined spectrum values; and e. continuously adjusting the amplitude of said electrical control signal in response to said ratio formed in step (d) above such that said radiated seismic signal has a spectrum value for each operating frequency which approximately equals the predetermined spectrum value. 